cmake_minimum_required(VERSION 2.8.3)
project(tiny_slam)

set(CMAKE_BUILD_TYPE "Release")
set(CMAKE_CXX_STANDARD 14)

set(CMAKE_CXX_FLAGS_RELEASE "-O3 -Wall -g")

find_package(catkin REQUIRED COMPONENTS
    roscpp
    std_msgs
    geometry_msgs
    nav_msgs
    tf
    cv_bridge
    image_transport)

find_package(OpenCV REQUIRED)

# find_package(Ceres REQUIRED)

include_directories(${catkin_INCLUDE_DIRS} 
                    # ${CERES_INCLUDE_DIRS}
                    )

set(CMAKE_MODULE_PATH ${PROJECT_SOURCE_DIR}/cmake)
find_package(Eigen3)
include_directories(
  ${catkin_INCLUDE_DIRS}
  ${EIGEN3_INCLUDE_DIR}
  ${PROJECT_SOURCE_DIR}/include/
  ${PROJECT_SOURCE_DIR}/app/
)

catkin_package()

add_executable(run app/run.cpp
                src/front_end.cpp
                src/Frame.cpp
                src/tool.cpp
                src/ORBextractor.cc)
target_link_libraries(run
                    ${catkin_LIBRARIES} 
                    ${OpenCV_LIBS} 
                    # ${CERES_LIBRARIES}
					) 

